Vortrag: Revisiting multi-GNSS Navigation for UAVs - An Equivariant Filtering ...
Stammdaten
Titel: | Revisiting multi-GNSS Navigation for UAVs - An Equivariant Filtering Approach |
Beschreibung: | In this work, we explore the recent advances in equivariant filtering for inertial navigation systems to improve state estimation for uncrewed aerial vehicles (UAVs). Traditional state-of-the-art estimation methods, e.g., the multiplicative Kalman filter (MEKF), have some limitations concerning their consistency, errors in the initial state estimate, and convergence performance. Symmetry-based methods, such as the equivariant filter (EqF), offer significant advantages for these points by exploiting the mathematical properties of the system - its symmetry. These filters yield faster convergence rates and robustness to wrong initial state estimates through their error definition. To demonstrate the usability of EqFs, we focus on the sensor-fusion problem with the most common sensors in outdoor robotics: global navigation satellite system (GNSS) sensors and an inertial measurement unit (IMU). We provide an implementation of such an EqF leveraging the semi-direct product of the symmetry group to derive the filter equations. To validate the practical usability of EqFs in real-world scenarios, we evaluate our method using data from all outdoor runs of the INSANE Dataset. Our results demonstrate the performance improvements of the EqF in real-world environments, highlighting its potential for enhancing state estimation for UAVs. |
Schlagworte: |
Typ: | Angemeldeter Vortrag |
Homepage: | https://www.icar-robotics.org/ |
Veranstaltung: | 2023 21st International Conference on Advanced Robotics (ICAR) (Abu Dhabi) |
Datum: | 06.12.2023 |
Vortragsstatus: | stattgefunden (Präsenz) |
Beteiligte
Martin Scheiber (intern) |
|
Alessandro Fornasier (intern) |
|
Christian Brommer (intern) |
|
Stephan Michael Weiss (intern) |
|
Zuordnung
Organisation | Adresse | ||||
---|---|---|---|---|---|
Fakultät für Technische Wissenschaften
Institut für Intelligente Systemtechnologien
|
AT - 9020 Klagenfurt am Wörthersee |
Kategorisierung
Sachgebiete | |
Forschungscluster |
|
Vortragsfokus |
Klassifikationsraster der zugeordneten Organisationseinheiten:
|
TeilnehmerInnenkreis |
|
Publiziert? |
|
Arbeitsgruppen |
|
Kooperationen
Forschungsaktivitäten
(Achtung: Externe Aktivitäten werden im Suchergebnis nicht mitangezeigt)
Projekte |
|
Publikationen |
|
Veranstaltungen | Keine verknüpften Veranstaltung vorhanden |
Vorträge | Keine verknüpften Vorträge vorhanden |